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appa.ongoing.2.c
147 lines (135 loc) · 3.38 KB
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appa.ongoing.2.c
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#include <mxapi.h>
#include <servo.h>
#include <adc.h>
#include <sound.h>
int main(void)
{
// Initialize everything in the beginning
servo_init();
adc_init();
signed int newSpeed= 0;
int sensorRead= 650;
int scalarSpeed= 0;
int visionSweep= 0;
while(1==1)
{
// Look towards the right for anything that we might bump into
visionSweep= 0;
sensorRead = adc_read(ADC5);
while(visionSweep < 30)
{
if (adc_read(ADC5) > sensorRead) {
sensorRead= adc_read(ADC5);
}
servo_robot(SPIN_RIGHT, 20);
delay_ms( 10 );
visionSweep= visionSweep + 1;
}
// Look towards the left for anything that we might bump into
visionSweep= 0;
while(visionSweep < 60)
{
if (adc_read(ADC5) > sensorRead) {
sensorRead= adc_read(ADC5);
}
servo_robot(SPIN_LEFT, 15);
delay_ms( 10 );
visionSweep= visionSweep + 1;
}
visionSweep= 0;
while(visionSweep < 30)
{
if (adc_read(ADC5) > sensorRead) {
sensorRead= adc_read(ADC5);
}
servo_robot(SPIN_RIGHT, 20);
delay_ms( 10 );
visionSweep= visionSweep + 1;
}
newSpeed= ( ( (sensorRead * -4) + 1700) / 9);
if (newSpeed < 0)
{
servo_robot(SPIN_RIGHT, 6);
//delay_ms( 120 );
newSpeed = -newSpeed;
tone_out(PORT_D4, A4N, No02);
delay_ms( 50 );
tone_out(PORT_D4, A4N, No02);
delay_ms( 50 );
tone_out(PORT_D4, A4N, No02);
delay_ms( 50 );
tone_out(PORT_D4, F4N, Nd04);
tone_out(PORT_D4, C5N, No08);
delay_ms( 50 );
tone_out(PORT_D4, A4N, No02);
delay_ms( 50 );
tone_out(PORT_D4, F4N, Nd04);
tone_out(PORT_D4, C5N, No08);
delay_ms( 50 );
tone_out(PORT_D4, A4N, No01);
delay_ms( 50 );
tone_out(PORT_D4, E5N, No02);
delay_ms( 50 );
tone_out(PORT_D4, E5N, No02);
delay_ms( 50 );
tone_out(PORT_D4, E5N, No02);
delay_ms( 50 );
tone_out(PORT_D4, F5N, Nd04);
tone_out(PORT_D4, C5N, No08);
delay_ms( 50 );
tone_out(PORT_D4, A4F, No02);
delay_ms( 50 );
tone_out(PORT_D4, F4N, Nd04);
tone_out(PORT_D4, C5N, No08);
delay_ms( 50 );
tone_out(PORT_D4, A4N, No01);
continue;
}
if (newSpeed > 95)
{
newSpeed= 95;
}
scalarSpeed= newSpeed;
servo_robot(FORWARD, scalarSpeed);
delay_ms( ( (newSpeed * 3) + 500) );
if ( (sensorRead % 2) == 0)
{
servo_robot(SPIN_RIGHT, ( (scalarSpeed % 20) * 5) );
} else {
servo_robot(SPIN_LEFT, ( (scalarSpeed % 20) * 5) );
}
delay_ms( ( (newSpeed * -2) + 300) );
if ( (sensorRead % 20) == 0)
{
servo_robot(STOP, 0);
tone_out(PORT_D4, G4N, No08);
tone_out(PORT_D4, G4N, No08);
tone_out(PORT_D4, A4N, No04);
tone_out(PORT_D4, G4N, No04);
tone_out(PORT_D4, C5N, No04);
tone_out(PORT_D4, B4N, No02);
delay_ms( 200 );
tone_out(PORT_D4, G4N, No08);
tone_out(PORT_D4, G4N, No08);
tone_out(PORT_D4, A4N, No04);
tone_out(PORT_D4, G4N, No04);
tone_out(PORT_D4, D5N, No04);
tone_out(PORT_D4, C5N, No02);
delay_ms( 200 );
tone_out(PORT_D4, G4N, No08);
tone_out(PORT_D4, G4N, No08);
tone_out(PORT_D4, G5N, No04);
tone_out(PORT_D4, E5N, No04);
tone_out(PORT_D4, C5N, No04);
tone_out(PORT_D4, B4N, No04);
tone_out(PORT_D4, A4N, No02);
delay_ms( 200 );
tone_out(PORT_D4, F5N, No08);
tone_out(PORT_D4, F5N, No08);
tone_out(PORT_D4, E5N, No04);
tone_out(PORT_D4, C5N, No04);
tone_out(PORT_D4, D5N, No04);
tone_out(PORT_D4, C5N, No02);
}
}
}